/** A test striker option without common decision */
option(Striker)
{
    float p = -2.0f;
//    ArmContact();
    initial_state(walkStraight)
    {
        transition
        {
            if(theLibCodeRelease.odometryXSum >= 6430.f)
	   // if(state_time > 30)
        	goto adjust;
		
        }
        action
        { 
		WalkAtRelativeSpeed(Pose2f(p * theLibCodeRelease.odometryRSum, 0.8f, 0.f));
		//WalkAtRelativeSpeed(Pose2f(0.f, 0.8f, 0.f));
        }
    }
    state(adjust)
    {
	transition
	{
		if((state_time > 6000) || (std::abs(theObstacleModel.obstacles[0].center.y()+90.f)<20.f))
			goto pass;
	}	
	action
	{
			//WalkToTarget(Pose2f(0.3f,0.3f,0.3f),Pose2f(0.f,theObstacleModel.obstacles[0].center.x()-100.f,theObstacleModel.obstacles[0].center.y()));
			WalkToTarget(Pose2f(0.2f,0.2f,0.2f),Pose2f(0.f,0.f,theObstacleModel.obstacles[0].center.y()+90.f));	

	}
    }
    state(pass)
    {
	transition
	{
		if(action_done)
		  goto finish;
	}
        action
	{
            Stand();
	    SpecialAction(SpecialActionRequest::keeperJumpLeftPenalty);	
	}
    }
    
	state(finish)
	{
		action
		{
			Stand();
		}
	}
}
